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为了对两轮直立式机器人进行平衡控制研究,首先应用一种拉格朗日方法对两轮直立式机器人系统进行动力学建模,以力矩作为模型控制输入并且考虑到了系统无滑动的非完整约束方程。求出了系统的最大相对阶并对非线性系统进行了部分反馈线性化,经过坐标变换和输出反馈得到了2个由两链积分器构成的子系统,外加3个代表系统内动态的非线性方程。根据以上所得的结果,对两轮直立式机器人进行了平衡控制,并在保持平衡时跟上期望的偏航角。所使用的方法为简单的PID控制,由仿真结果可以看出机器人可以在短时间内达到平衡状态,验证了这种控制方法的有效性。
In order to study the balance control of two-wheeled upright robot, a two-wheeled upright robot system is first modeled using Lagrange method. The torque is taken as model control input and the non-slip non-complete constraint of the system is taken into account equation. The maximum relative order of the system is obtained and the nonlinear feedback of the nonlinear system is partially linearized. Two subsystems consisting of two-chain integrators are obtained through coordinate transformation and output feedback. In addition, three subsystems representing the dynamic nonlinearity equation. Based on the results obtained above, the two-wheeled upright robot is balance-controlled and keeps the desired yaw angle while maintaining balance. The method used is a simple PID control. It can be seen from the simulation results that the robot can reach equilibrium in a short time, which verifies the effectiveness of this control method.